If you brush your dog's teeth at least two times a week, then you will reduce the amount of tartar substantially. Forget about those weird looking dog tooth brushes. Instead, go to the Toddler/Baby department and buy a toddler tooth brush. You must use toothpaste made for dogs because 1) human toothpaste cannot be swallowed and 2) your dogs will love poultry flavored toothpaste.
If you can, have your dog's teeth cleaned without anesthesia. Most dogs tolerate this very well.
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 K9-Lovers
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